Author

Jian-Feng Xu

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Preprint Oct 2026

CQDC-Warp: GPU-Accelerated Differentiable Quasi-Dynamic Simulation for Contact-Rich Manipulation

CQDC-Warp is presented, a GPU-accelerated differentiable quasi-dynamic simulator for batched model predictive control (MPC) for contact-guided trajectory optimization, in which intended robot--object contacts are specified before planning and encouraged through soft costs, while the simulated dynamics determine contact...

Yan-Chen Ding, Jia-Yi Chen, Jian-Feng Xu et al. · 0 citations